first commit, pc maps builder

Author: estherag

.github/Doxyfile

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+repositories:
+  ThirdParty/EasyNavigation:
+    type: git
+    url: https://github.com/EasyNavigation/EasyNavigation.git
+    version: rolling

.github/thirdparty.repos

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+name: Doxygen Deployment
+
+on:
+  push:
+    branches:
+      - rolling
+  schedule:
+    - cron: '0 0 * * 6'
+  workflow_dispatch:
+
+jobs:
+  doxygen_generation:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Generate Doxygen for EasyNav Costmap Stack
+        uses: mattnotmitt/doxygen-action@edge
+        with:
+          doxyfile-path: ".github/Doxyfile"
+
+      - name: Doxygen Deployment
+        uses: peaceiris/actions-gh-pages@v4
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_branch: gh-pages
+          publish_dir: docs/html

.github/workflows/doxygen-doc.yml

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+name: rolling
+
+on:
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.13
+        with:
+          required-ros-distributions: rolling
+
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.1
+        with:
+          package-name: easynav_outdoor_maps_builder easynav_outdoor_maps_manager easynav_vff_controller easynav_gps_localizer
+          target-ros2-distro: rolling
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-test: true
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true
+              }
+            }
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/rolling.yaml

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+# easynav_pointcloud_stack
+

LICENSE

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+cmake_minimum_required(VERSION 3.20)
+project(easynav_pointcloud_maps_builder)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# Dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(easynav_common REQUIRED)
+
+set(dependencies
+  rclcpp
+  rclcpp_lifecycle
+  sensor_msgs
+  easynav_common
+)
+
+include_directories(include)
+
+# Library
+add_library(${PROJECT_NAME} SHARED
+  src/easynav_pointcloud_maps_builder/PointcloudMapsBuilderNode.cpp
+
+)
+ament_target_dependencies(${PROJECT_NAME} ${dependencies})
+
+# Executable
+add_executable(pointcloud_maps_builder_main src/pointcloud_maps_builder_main.cpp)
+ament_target_dependencies(pointcloud_maps_builder_main ${dependencies})
+target_link_libraries(pointcloud_maps_builder_main ${PROJECT_NAME})
+
+# Install headers
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+# Install targets
+install(TARGETS
+  ${PROJECT_NAME}
+  pointcloud_maps_builder_main
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+# Tests
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(tests)
+endif()
+
+# Export
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(${dependencies})
+
+ament_package()

README.md

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+#ifndef EASYNAV_OUTDOOR_MAPS_BUILDER__POINTCLOUDMAPSBUILDERNODE_HPP_
+#define EASYNAV_OUTDOOR_MAPS_BUILDER__POINTCLOUDMAPSBUILDERNODE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "sensor_msgs/msg/point_cloud2.hpp"
+#include "easynav_common/types/Perceptions.hpp"
+
+namespace easynav
+{
+
+/**
+ * @class PointcloudMapsBuilderNode
+ * @brief Lifecycle node that subscribes to point cloud sensor data and manages map building.
+ *
+ * This node handles perception data (point clouds) using multiple MapsBuilder instances
+ * to generate outdoor maps. It supports ROS2 lifecycle management with clean startup,
+ * activation, deactivation, and cleanup phases. The node also publishes processed maps
+ * (e.g., filtered point clouds) for downstream consumption.
+ */
+class PointcloudMapsBuilderNode : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS(PointcloudMapsBuilderNode)
+
+  using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+  /**
+   * @brief Constructor.
+   * @param options Options for node initialization.
+   */
+  explicit PointcloudMapsBuilderNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
+  /**
+   * @brief Destructor.
+   */
+  ~PointcloudMapsBuilderNode();
+
+  /**
+   * @brief Lifecycle configure callback.
+   * @param state Current lifecycle state.
+   * @return CallbackReturnT indicating success or failure.
+   */
+  CallbackReturnT on_configure(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Lifecycle activate callback.
+   * @param state Current lifecycle state.
+   * @return CallbackReturnT indicating success or failure.
+   */
+  CallbackReturnT on_activate(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Lifecycle deactivate callback.
+   * @param state Current lifecycle state.
+   * @return CallbackReturnT indicating success or failure.
+   */
+  CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Lifecycle cleanup callback.
+   * @param state Current lifecycle state.
+   * @return CallbackReturnT indicating success or failure.
+   */
+  CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state) override;
+
+  /**
+   * @brief Perform a processing cycle on the perception data and update maps.
+   *
+   * This method should be called periodically (e.g., in a timer or main loop) to process
+   * incoming sensor data, update the internal map representations, and publish outputs.
+   */
+  void cycle();
+
+private:
+  /// Name of the sensor topic to subscribe to (e.g., point clouds).
+  std::string sensor_topic_;
+
+  /// Collection of perception data managed by this node.
+  Perceptions perceptions_;
+
+  /// Callback group for concurrency management of subscriptions and timers.
+  rclcpp::CallbackGroup::SharedPtr cbg_;
+
+  /// Downsampling resolution applied to point cloud data.
+  double downsample_resolution_;
+
+  /// Default frame ID used for perception data and published messages.
+  std::string perception_default_frame_;
+
+  /// Publisher for processed (e.g., filtered or downsampled) point cloud map data.
+  rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_;
+};
+
+}  // namespace easynav
+
+#endif  // EASYNAV_OUTDOOR_MAPS_BUILDER__POINTCLOUDMAPSBUILDERNODE_HPP_

easynav_pointcloud_maps_builder/CMakeLists.txt

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>easynav_pointcloud_maps_builder</name>
+  <version>0.0.1</version>
+  <description>Easy Navigation: Pointcloud Map Builder Package.</description>
+  <maintainer email="e.aguado.glez@gmail.com">Esther Aguado Gonzalez</maintainer>
+  <license>GPL-3.0-only</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>easynav_common</depend>
+  
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>